Effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke
Background Hemiparesis after stroke often leads to impaired ankle motor control that impacts gait function. In recent studies, robotic devices have been developed to address this impairment. While capable of imparting forces to assist during training and gait, these devices add mass to the paretic l...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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BioMed Central Ltd
2010
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| Online Access: | http://hdl.handle.net/1721.1/58740 |
| _version_ | 1811083645417422848 |
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| author | Khanna, Ira Roy, Anindo Krebs, Hermano Igo Rodger, Mary M. Macko, Richard M. Forrester, Larry W. |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Khanna, Ira Roy, Anindo Krebs, Hermano Igo Rodger, Mary M. Macko, Richard M. Forrester, Larry W. |
| author_sort | Khanna, Ira |
| collection | MIT |
| description | Background Hemiparesis after stroke often leads to impaired ankle motor control that impacts gait function. In recent studies, robotic devices have been developed to address this impairment. While capable of imparting forces to assist during training and gait, these devices add mass to the paretic leg which might encumber patients' gait pattern. The purpose of this study was to assess the effects of the added mass of one of these robots, the MIT's Anklebot, while unpowered, on gait of chronic stroke survivors during overground and treadmill walking. Methods Nine chronic stroke survivors walked overground and on a treadmill with and without the anklebot mounted on the paretic leg. Gait parameters, interlimb symmetry, and joint kinematics were collected for the four conditions. Repeated-measures analysis of variance (ANOVA) tests were conducted to examine for possible differences across four conditions for the paretic and nonparetic leg. Results The added inertia and friction of the unpowered anklebot had no statistically significant effect on spatio-temporal parameters of gait, including paretic and nonparetic step time and stance percentage, in both overground and treadmill conditions. Noteworthy, interlimb symmetry as characterized by relative stance duration was greater on the treadmill than overground regardless of loading conditions. The presence of the unpowered robot loading reduced the nonparetic knee peak flexion on the treadmill and paretic peak dorsiflexion overground (p < 0.05). Conclusions Our results suggest that for these subjects the added inertia and friction of this backdriveable robot did not significantly alter their gait pattern. |
| first_indexed | 2024-09-23T12:36:28Z |
| format | Article |
| id | mit-1721.1/58740 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T12:36:28Z |
| publishDate | 2010 |
| publisher | BioMed Central Ltd |
| record_format | dspace |
| spelling | mit-1721.1/587402022-09-28T08:57:47Z Effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke Khanna, Ira Roy, Anindo Krebs, Hermano Igo Rodger, Mary M. Macko, Richard M. Forrester, Larry W. Massachusetts Institute of Technology. Department of Mechanical Engineering Roy, Anindo Krebs, Hermano Igo Background Hemiparesis after stroke often leads to impaired ankle motor control that impacts gait function. In recent studies, robotic devices have been developed to address this impairment. While capable of imparting forces to assist during training and gait, these devices add mass to the paretic leg which might encumber patients' gait pattern. The purpose of this study was to assess the effects of the added mass of one of these robots, the MIT's Anklebot, while unpowered, on gait of chronic stroke survivors during overground and treadmill walking. Methods Nine chronic stroke survivors walked overground and on a treadmill with and without the anklebot mounted on the paretic leg. Gait parameters, interlimb symmetry, and joint kinematics were collected for the four conditions. Repeated-measures analysis of variance (ANOVA) tests were conducted to examine for possible differences across four conditions for the paretic and nonparetic leg. Results The added inertia and friction of the unpowered anklebot had no statistically significant effect on spatio-temporal parameters of gait, including paretic and nonparetic step time and stance percentage, in both overground and treadmill conditions. Noteworthy, interlimb symmetry as characterized by relative stance duration was greater on the treadmill than overground regardless of loading conditions. The presence of the unpowered robot loading reduced the nonparetic knee peak flexion on the treadmill and paretic peak dorsiflexion overground (p < 0.05). Conclusions Our results suggest that for these subjects the added inertia and friction of this backdriveable robot did not significantly alter their gait pattern. Baltimore Veterans Affairs Medical Center ("Center of Excellence on Task-Oriented Exercise and Robotics in Neurological Diseases" under Grant B3688R) VA Medical Center Baltimore Geriatrics Research Geriatric Research Education and Clinical Centers University of Maryland at Baltimore. School of Medicine VA Advanced Career Development Award (grant B3390K) National Institute on Aging (Claude D. Pepper Older Americans Independence Act Center) Pepper Center grant P60AG12583) 2010-09-28T20:39:57Z 2010-09-28T20:39:57Z 2010-05 2009-11 2010-09-03T16:19:49Z Article http://purl.org/eprint/type/JournalArticle 1743-0003 PMCID: PMC2887457 http://hdl.handle.net/1721.1/58740 Khanna, Ira et al. “Effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke.” Journal of NeuroEngineering and Rehabilitation 7.1 (2010): 23. 20492698 en http://dx.doi.org/10.1186/1743-0003-7-23 Journal of NeuroEngineering and Rehabilitation Creative Commons Attribution http://creativecommons.org/licenses/by/2.0 Khanna et al.; licensee BioMed Central Ltd. application/pdf BioMed Central Ltd BioMed Central Ltd |
| spellingShingle | Khanna, Ira Roy, Anindo Krebs, Hermano Igo Rodger, Mary M. Macko, Richard M. Forrester, Larry W. Effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke |
| title | Effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke |
| title_full | Effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke |
| title_fullStr | Effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke |
| title_full_unstemmed | Effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke |
| title_short | Effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke |
| title_sort | effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke |
| url | http://hdl.handle.net/1721.1/58740 |
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